version: 66.01
glider: 1
mission: 1
dive: 6
start: 7 5 107 17 7 49
data:
$ID,1
$MISSION,1
$DIVE,6
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,7.0000001e-06
$D_PITCH,1.5
$D_SAFE,100
$D_CALL,2
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,20
$SURFACE_URGENCY_FORCE,20
$T_DIVE,528
$T_MISSION,550
$T_ABORT,1440
$T_TURN,240
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,-1
$ICE_FREEZE_MARGIN,-2
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.94999993
$RHO,1.02765
$MASS,51747
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,1
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-445401.53
$T_RSLEEP,57
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2263
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.045000002
$PITCH_GAIN,20
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,180
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,166
$ROLL_MAX,3791
$C_ROLL_DIVE,1978
$C_ROLL_CLIMB,1978
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,2
$ROLL_AD_RATE,500
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,421
$VBD_MAX,3792
$C_VBD,2257
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,20
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,0.27000001
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,3.5
$ALTIM_PING_DEPTH,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,15
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,10
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,1
$PHONE_DEVICE,32
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042857998
$SEABIRD_T_H,0.00062588596
$SEABIRD_T_I,2.1643695e-05
$SEABIRD_T_J,2.0181028e-06
$SEABIRD_C_G,-10.005328
$SEABIRD_C_H,1.1235065
$SEABIRD_C_I,-0.0015880254
$SEABIRD_C_J,0.0001984441
$GPS1,165824,4702.980,-12554.692,26,1.1,26,18.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-50.0
$GPS2,170645,4703.035,-12554.763,25,1.1,25,18.0
$SPEED_LIMITS,0.103,0.183
$TGT_NAME,default
$TGT_LATLONG,47.600,-122.300
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.136,-0.137
$KALMAN_X,-5676.8,254.8,137.9,23348.9,-1908.6
$KALMAN_Y,10834.8,-29.2,-22.6,-14169.3,2931.6
$MHEAD_RNG_PITCHd_Wd,117.2,14761496,-12.7,-6.250
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,32,end surface,CONTROL_FINISHED_OK
$STATE,33,begin dive
$GC,39,-0.83,-116.8,0.0,0.0,0,109,0.00,0.00,-62.90,0.000,6,0.000,0.000,599,1726,2735
$GC,116,-0.83,-116.8,3.0,-4.7,10,126,7.50,0.00,0.00,0.000,6,0.000,0.000,2133,1716,2736
$GC,487,-0.83,-116.8,45.8,-11.2,71,496,0.30,2.33,0.00,0.000,4,0.000,0.000,2079,456,2728
$GC,787,-0.83,-116.8,79.4,-10.6,120,796,0.00,2.60,0.00,0.000,6,0.000,0.000,2095,2125,2738
$GC,1154,-0.83,-116.8,116.3,-9.2,160,1161,0.00,3.58,0.00,0.000,4,0.000,0.000,2093,460,2734
$GC,1444,-0.83,-116.8,142.1,-8.0,172,1449,0.00,2.50,0.00,0.000,6,0.000,0.000,2075,2085,2733
$GC,1764,-0.83,-116.8,168.1,-8.1,187,1772,0.03,3.55,0.00,0.000,4,0.000,0.000,2083,422,2739
$GC,2056,-0.83,-116.8,191.5,-7.9,199,2061,0.00,2.67,0.00,0.000,6,0.000,0.000,2099,2092,2732
$GC,2374,-0.83,-116.8,216.7,-7.5,214,2380,0.03,2.50,0.00,0.000,4,0.000,0.000,2078,404,2739
$GC,2660,-0.83,-116.8,237.5,-6.6,226,2666,0.00,3.12,0.00,0.000,6,0.000,0.000,2086,2151,2736
$GC,2979,-0.83,-116.8,260.4,-7.9,241,2986,0.00,3.45,0.00,0.000,4,0.000,0.000,2091,402,2729
$GC,3267,-0.83,-116.8,282.9,-7.5,253,3272,0.00,2.80,0.00,0.000,6,0.000,0.000,2078,2172,2738
$GC,3585,-0.83,-116.8,308.6,-8.0,268,3593,0.00,3.95,0.00,0.000,4,0.000,0.000,2090,392,2735
$GC,3874,-0.83,-116.8,331.5,-7.8,280,3885,0.00,3.38,0.00,0.000,6,0.000,0.000,2077,2047,2733
$GC,4197,-0.83,-116.8,354.7,-6.9,296,4202,0.00,2.53,0.00,0.000,4,0.000,0.000,2085,392,2736
$GC,4479,-0.83,-116.8,375.2,-6.9,308,4485,0.03,3.00,0.00,0.000,6,0.000,0.000,2078,2211,2732
$GC,4798,-0.83,-116.8,397.4,-6.8,323,4803,0.00,3.10,0.00,0.000,4,0.000,0.000,2077,415,2729
$GC,5082,-0.83,-116.8,419.0,-7.7,335,5087,0.00,3.00,0.00,0.000,6,0.000,0.000,2070,2151,2740
$GC,5402,-0.83,-116.8,443.7,-7.3,350,5407,0.00,2.80,0.00,0.000,4,0.000,0.000,2080,374,2731
$GC,5687,-0.83,-116.8,464.6,-6.9,362,5692,0.00,2.80,0.00,0.000,6,0.000,0.000,2061,2149,2735
$GC,6006,-0.83,-116.8,487.1,-6.5,377,6011,0.00,2.60,0.00,0.000,4,0.000,0.000,2080,438,2731
$GC,6287,-0.83,-116.8,504.4,-5.9,388,6292,0.03,2.60,0.00,0.000,6,0.000,0.000,2097,2127,2737
$GC,6604,-0.83,-116.8,523.1,-6.1,396,6608,0.00,2.58,0.00,0.000,4,0.000,0.000,2083,451,2734
$GC,6882,-0.83,-116.8,539.7,-6.1,402,6887,0.03,2.60,0.00,0.000,6,0.000,0.000,2077,2123,2739
$GC,7198,-0.83,-116.8,558.3,-5.8,410,7204,0.00,3.25,0.00,0.000,4,0.000,0.000,2072,461,2737
$GC,7479,-0.83,-116.8,576.5,-7.0,416,7484,0.00,2.62,0.00,0.000,6,0.000,0.000,2075,2106,2737
$GC,7795,-0.83,-116.8,598.6,-7.3,424,7801,0.05,2.70,0.00,0.000,4,0.000,0.000,2082,438,2734
$GC,8076,-0.83,-116.8,617.9,-6.6,430,8083,0.00,3.35,0.00,0.000,6,0.000,0.000,2089,2117,2740
$GC,8397,-0.83,-116.8,639.3,-6.8,438,8402,0.00,2.90,0.00,0.000,4,0.000,0.000,2087,451,2732
$GC,8677,-0.83,-116.8,658.2,-6.4,444,8684,0.00,3.85,0.00,0.000,6,0.000,0.000,2073,2219,2736
$GC,8998,-0.83,-116.8,678.9,-6.7,452,9003,0.00,3.10,0.00,0.000,4,0.000,0.000,2088,426,2736
$GC,9278,-0.83,-116.8,697.2,-6.5,458,9284,0.00,2.83,0.00,0.000,6,0.000,0.000,2088,2190,2735
$GC,9595,-0.83,-116.8,717.9,-6.7,466,9602,0.00,4.75,0.00,0.000,4,0.000,0.000,2092,335,2729
$GC,9880,-0.83,-116.8,738.9,-7.4,472,9887,0.00,3.62,0.00,0.000,6,0.000,0.000,2093,2113,2733
$GC,10201,-0.83,-116.8,761.3,-6.8,480,10208,0.00,3.55,0.00,0.000,4,0.000,0.000,2078,436,2728
$GC,10486,-0.83,-116.8,780.8,-6.5,486,10491,0.00,2.72,0.00,0.000,6,0.000,0.000,2075,2107,2734
$GC,10803,-0.83,-116.8,802.3,-6.5,494,10808,0.00,2.70,0.00,0.000,4,0.000,0.000,2062,357,2742
$GC,11087,-0.83,-116.8,820.8,-6.6,500,11094,0.00,3.45,0.00,0.000,6,0.000,0.000,2084,2120,2739
$GC,11409,-0.83,-116.8,840.7,-6.2,508,11414,0.00,2.72,0.00,0.000,4,0.000,0.000,2098,448,2736
$GC,11690,-0.83,-116.8,858.2,-5.6,514,11696,0.03,2.53,0.00,0.000,6,0.001,0.000,2083,2063,2736
$GC,12009,-0.83,-116.8,875.3,-5.4,522,12013,0.00,2.50,0.00,0.000,4,0.000,0.000,2094,404,2738
$GC,12293,-0.83,-116.8,890.7,-5.4,528,12298,0.00,2.70,0.00,0.000,6,0.000,0.000,2071,2177,2736
$GC,12609,-0.83,-116.8,907.6,-5.6,536,12614,0.00,2.92,0.00,0.000,4,0.000,0.000,2077,460,2733
$GC,12894,-0.83,-116.8,923.9,-5.7,542,12899,0.00,3.00,0.00,0.000,6,0.000,0.000,2084,2190,2731
$GC,13211,-0.83,-116.8,941.9,-5.7,550,13218,0.00,3.67,0.00,0.000,4,0.000,0.000,2083,549,2731
$GC,13496,-0.83,-116.8,958.4,-5.5,556,13501,0.00,2.42,0.00,0.000,6,0.000,0.000,2066,2121,2741
$GC,13812,-0.83,-116.8,976.7,-6.0,564,13819,0.00,3.35,0.00,0.000,4,0.000,0.000,2077,502,2735
$STATE,13863,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13863,begin apogee
$GC,13879,-0.25,0.0,980.2,5.9,565,14004,0.90,0.00,111.47,0.000,6,0.000,0.000,2270,2134,2270
$STATE,14005,end apogee,CONTROL_FINISHED_OK
$STATE,14010,begin climb
$GC,14015,0.83,116.8,987.1,0.0,568,14146,1.12,2.17,113.28,0.001,4,0.000,0.000,2522,3423,1786
$GC,14428,0.83,116.8,981.4,9.5,577,14436,0.40,3.45,0.00,0.000,6,0.000,0.000,2427,1773,1785
$GC,14760,0.83,116.8,950.3,9.4,585,14766,0.20,2.80,0.00,0.000,4,0.000,0.000,2466,3550,1782
$GC,15046,0.83,116.8,925.9,8.3,591,15051,0.12,2.50,0.00,0.000,6,0.000,0.000,2430,1870,1784
$GC,15363,0.83,116.8,900.9,7.6,599,15369,0.05,3.25,0.00,0.000,4,0.000,0.000,2425,3559,1785
$GC,15649,0.83,116.8,878.8,7.6,605,15654,0.05,2.70,0.00,0.000,6,0.000,0.000,2425,1798,1781
$GC,15965,0.83,116.8,852.7,8.3,613,15971,0.20,2.72,0.00,0.000,4,0.000,0.000,2468,3574,1782
$GC,16247,0.83,116.8,828.7,7.7,619,16255,0.40,3.55,0.00,0.000,6,0.000,0.000,2396,1927,1785
$GC,16569,0.83,116.8,801.8,8.4,627,16577,0.47,3.55,0.00,0.000,4,0.000,0.000,2464,3592,1786
$GC,16859,0.83,116.8,778.5,7.3,633,16867,0.38,3.75,0.00,0.000,6,0.000,0.000,2389,1813,1780
$GC,17180,0.83,116.8,755.1,7.2,641,17186,0.32,2.70,0.00,0.000,4,0.000,0.000,2435,3613,1779
$GC,17466,0.83,116.8,733.0,8.3,647,17472,0.00,3.00,0.00,0.000,6,0.000,0.000,2438,1828,1781
$GC,17782,0.83,116.8,706.6,8.3,655,17787,0.00,2.83,0.00,0.000,4,0.000,0.000,2434,3596,1778
$GC,18063,0.83,116.8,682.2,8.6,661,18068,0.00,2.83,0.00,0.000,6,0.000,0.000,2422,1842,1784
$GC,18379,0.83,116.8,655.4,8.5,669,18381,0.03,0.00,0.00,0.000,6,0.000,0.000,2436,1824,1784
$GC,18704,0.83,116.8,628.7,8.0,677,18709,0.00,2.92,0.00,0.000,4,0.000,0.000,2428,3632,1785
$GC,18984,0.83,116.8,607.1,7.3,683,18989,0.00,2.83,0.00,0.000,6,0.000,0.000,2434,1838,1787
$GC,19301,0.83,116.8,585.3,6.6,691,19308,0.00,3.35,0.00,0.000,4,0.000,0.000,2416,3510,1785
$GC,19586,0.83,133.0,567.9,5.6,697,19606,0.00,2.70,14.82,0.000,6,0.000,0.000,2431,1754,1718
$GC,19942,0.86,140.2,547.7,6.0,706,19955,0.00,2.72,6.35,0.001,4,0.000,0.000,2453,3568,1687
$GC,20237,0.87,140.2,527.8,7.6,712,20242,0.00,2.70,0.00,0.000,6,0.000,0.000,2430,1805,1691
$GC,20588,0.87,140.2,501.6,7.4,721,20594,0.15,2.70,0.00,0.000,4,0.000,0.000,2487,3529,1691
$GC,20874,0.87,140.2,479.5,8.6,732,20879,0.00,3.03,0.00,0.000,6,0.000,0.000,2498,1837,1693
$GC,21193,0.87,140.2,457.3,6.6,747,21198,0.05,2.60,0.00,0.000,4,0.000,0.000,2474,3514,1693
$GC,21479,0.87,140.2,438.2,6.6,759,21491,0.03,3.28,0.00,0.000,6,0.000,0.000,2486,1877,1691
$GC,21802,0.87,140.2,417.0,6.7,775,21811,0.00,3.95,0.17,0.002,4,0.000,0.000,2464,3531,1688
$GC,22094,0.87,153.1,398.4,5.8,787,22114,0.12,3.05,12.68,0.000,6,0.000,0.000,2446,1862,1638
$GC,22441,0.89,153.1,376.9,6.4,804,22446,0.03,2.70,0.00,0.000,4,0.000,0.000,2395,3551,1635
$GC,22718,0.89,153.1,357.4,7.3,816,22724,0.12,2.90,0.00,0.000,6,0.000,0.000,2472,1764,1641
$GC,23049,0.89,153.1,331.8,8.0,832,23056,0.00,2.90,0.45,0.001,4,0.000,0.000,2479,3578,1631
$GC,23332,0.89,153.1,308.8,7.3,844,23336,0.00,2.70,0.00,0.000,6,0.000,0.000,2468,1799,1632
$GC,23651,0.89,153.1,285.4,7.1,859,23658,0.00,3.75,0.00,0.000,4,0.000,0.000,2488,3578,1632
$GC,23942,0.89,165.6,266.6,5.8,871,23959,0.05,2.80,11.48,0.001,6,0.000,0.000,2467,1794,1583
$GC,24285,0.91,165.6,244.8,6.4,888,24290,0.05,2.90,0.00,0.000,4,0.000,0.000,2481,3565,1591
$GC,24572,0.91,165.6,226.4,6.7,900,24585,0.00,3.15,0.95,0.000,6,0.000,0.000,2476,1989,1583
$GC,24896,0.91,170.5,206.6,6.1,916,24902,0.00,0.00,4.72,0.000,6,0.000,0.000,2486,1999,1561
$GC,25205,0.92,170.5,186.7,6.3,931,25206,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1995,1557
$GC,25514,0.92,170.5,166.6,6.6,946,25519,0.00,3.12,0.00,0.000,4,0.000,0.000,2475,3551,1563
$GC,25805,0.92,182.4,145.6,5.8,958,25820,0.00,2.62,9.23,0.001,6,0.000,0.000,2492,1869,1510
$GC,26130,0.94,204.4,125.6,5.4,974,26149,0.00,0.00,17.67,0.000,6,0.000,0.000,2472,1879,1424
$GC,26459,0.98,220.4,107.1,5.6,990,26483,0.00,3.22,13.07,0.001,4,0.000,0.000,2478,3537,1362
$GC,26689,1.00,235.1,93.4,5.7,1012,26713,0.00,3.08,11.77,0.001,6,0.000,0.000,2490,2003,1298
$GC,27084,1.03,238.6,68.0,6.1,1075,27093,0.00,3.25,2.80,0.001,4,0.000,0.000,2465,3386,1287
$GC,27391,1.03,244.7,49.0,6.0,1124,27407,0.00,3.25,4.82,0.001,6,0.000,0.000,2477,1750,1262
$GC,27776,1.04,262.3,25.6,5.6,1186,27799,0.00,3.20,13.27,0.001,4,0.000,0.000,2460,3566,1194
$GC,28092,1.07,262.3,5.3,7.6,1237,28101,0.03,3.03,0.00,0.000,6,0.000,0.000,2476,1830,1198
$STATE,28143,end climb,SURFACE_DEPTH_REACHED
$STATE,28143,begin surface coast
$FINISH,0.7,1.025495
$STATE,28180,end surface coast,CONTROL_FINISHED_OK
$STATE,28180,begin surface
$SM_CCo,28208,54.90,0.000,1,0,841,350.04
$SM_GC,0.34,0.00,0.00,54.90,0.000,0.000,0.000,661,2194,841,-7.41,6.47,350.04
$RAFOS_CLK,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2131
$INTERNAL_PRESSURE,26.0455
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.7,19.3
$ALTIM_BOTTOM_PING,900.8,89.1
$24V_AH,23.7,21.451
$10V_AH,9.6,3.159
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,22.300,264.650,349.025,54.900,0.000,0.000,0.000,106.573,8.500,31.686,4342.773,19064.455,791.096,2573.698,1958.795,33.364,2808.250,0.000,2585.710,3240.000,47.192
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1298.437,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40959,1251
$CFSIZE,255582208,242716672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,32,1763,4,0
$SOUNDSPEED,1465.0
$CURRENT,0.037,290.2,1
$GPS,060707,010026,4702.472,-12551.063,24,1.1,24,18.0